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modbus_test
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rombe2

This commit is contained in:
unknown 2024-08-23 15:45:28 +03:00
parent 90291c88d0
commit fa7bd00298
1 changed files with 27 additions and 13 deletions
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40
client_socket.py
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@ -67,24 +67,38 @@ print('axis', axis_coord)
print('world', world_coord) print('world', world_coord)
print('remote command count', send_data(make_query_data(['RemoteCmdLen']))) print('remote command count', send_data(make_query_data(['RemoteCmdLen'])))
def make_world_step(p): def make_world_step(type, p):
return { step = {
"oneshot": "1", "action": "10", "oneshot": "1",
"delay":"0.0",
"speed":"50.0","smooth":"5",
"coord":"0","tool":"3",
"ckStatus":"0x3F",
}
if type == 'line':
step.update({"action": "10",
"m0": str(float(world_coord[0]) + p[0]), "m1":str(float(world_coord[1]) + p[1]), "m2": str(float(world_coord[2]) + p[2]),
"m3":world_coord[3], "m4":world_coord[4], "m5": world_coord[5],
"m6":"0", "m7":"0",})
elif type == 'curve':
step.update({"action": "17",
"m0": str(float(world_coord[0]) + p[0]), "m1":str(float(world_coord[1]) + p[1]), "m2": str(float(world_coord[2]) + p[2]), "m0": str(float(world_coord[0]) + p[0]), "m1":str(float(world_coord[1]) + p[1]), "m2": str(float(world_coord[2]) + p[2]),
"m3":world_coord[3], "m4":world_coord[4], "m5": world_coord[5], "m3":world_coord[3], "m4":world_coord[4], "m5": world_coord[5],
"m6":"0", "m7":"0", "m6":"0", "m7":"0",
"delay":"0.0","speed":"20.0", "m0_p": str(float(world_coord[0]) + p[3]), "m1_p":str(float(world_coord[1]) + p[4]), "m2_p": str(float(world_coord[2]) + p[5]),
"coord":"0","tool":"3", "m3_p":world_coord[3], "m4_p":world_coord[4], "m5_p": world_coord[5],
"smooth":"0", "ckStatus":"0x3F", "m6_p":"0", "m7_p":"0",})
} return step
k = 5 k = 5
data = [ data = [
(10*k, 10*k, 0), ('line',(10*k, 10*k, 0)),
(0, 20*k, 0), ('line',(0, 20*k, 0)),
(-10*k, 10*k, 0), ('line',(-10*k, 10*k, 0)),
(0, 0, 0), ('line',(0, 0, 0)),
(0, 0, 10*k), ('line',(0, 0, 10*k)),
('curve',(0, 10*k, 10*k, 20*k, 30*k, 10*k)),
] ]
send_data(make_addrcc_data([make_world_step(p) for p in data])) send_data(make_addrcc_data([make_world_step(*p) for p in data]))
print('remote command count', send_data(make_query_data(['RemoteCmdLen']))) print('remote command count', send_data(make_query_data(['RemoteCmdLen'])))
send_data(make_command_data(['actionSingleCycle'])) send_data(make_command_data(['actionSingleCycle']))